Method and device for detecting course of mobile terminal

A mobile terminal, heading technology, used in measuring devices, mapping and navigation, navigation through velocity/acceleration measurement, etc.

Inactive Publication Date: 2017-05-24
ZTE CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The main purpose of the present invention is to propose a method and device for detecting the heading of a mobile terminal, aiming t

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  • Method and device for detecting course of mobile terminal
  • Method and device for detecting course of mobile terminal
  • Method and device for detecting course of mobile terminal

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no. 1 example

[0065] Based on the first embodiment of the method for detecting the heading of a mobile terminal in the present invention, step S20 may include:

[0066] Step S21, when the strength of the earth's magnetic field is greater than or equal to the preset threshold, the acceleration and angular velocity of the mobile terminal are substituted into the first preset formula in AHRS to obtain a rotation matrix for converting the preset coordinate system to the northeast sky coordinate system;

[0067] Step S22, when the earth's magnetic field strength is less than the preset threshold, the acceleration, angular velocity and earth's magnetic field strength of the mobile terminal are substituted into the second preset formula in the AHRS to obtain the rotation of the preset coordinate system converted to the northeast sky coordinate system matrix.

[0068] The attitude reference system used in this embodiment obtains the rotation matrix by solving the current attitude according to the q...

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Abstract

The invention discloses a method for detecting a course of a mobile terminal. The method comprises the following steps: obtaining an accelerated speed, an angular speed and geomagnetic field intensity of the mobile terminal in a pre-set coordinate system through an accelerometer, a gyroscope and a magnetometer in the mobile terminal respectively; obtaining a rotary matrix of the mobile terminal through an attitude and heading reference system according to the accelerated speed, the angular speed and the geomagnetic field intensity of the mobile terminal in the pre-set coordinate system; projecting the accelerated speed of the mobile terminal in the pre-set coordinate system to an earth-fixed coordinate system according to the rotary matrix of the mobile terminal, so as to obtain data of the accelerated speed in the horizontal plane in the earth-fixed coordinate system; carrying out main component analysis according to the data of the accelerated speed in the horizontal plane in the earth-fixed coordinate system; extracting a straight line of a maximum accelerated speed change within pre-set time, so as to obtain the course of the mobile terminal. The invention further discloses a device for detecting the course of the mobile terminal. The course of the mobile terminal can be determined, without the need of fixing the mobile terminal disclosed by the invention at a fixed holding posture.

Description

technical field [0001] The invention relates to the field of positioning technology, in particular to a method and device for detecting the heading of a mobile terminal. Background technique [0002] With the popularity of smart phones and the development of positioning technology, people's demand for Location-Based Service (LBS) is increasing day by day. However, when the user's activity area is located indoors or in an environment covered by buildings, the accuracy of satellite positioning will be reduced, so that as an important means of navigation and positioning, the Global Positioning System (GPS) will be used indoors or in buildings. It is almost impossible to use in the environment of object occlusion due to signal attenuation and occlusion. In order to obtain good navigation and positioning results indoors or in environments with building occlusions, other positioning enhancement technologies must be used. [0003] Pedestrian dead reckoning PDR (Pedestrian Dead Re...

Claims

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Application Information

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IPC IPC(8): G01C21/12G01C21/08
CPCG01C21/08G01C21/12G01P13/02
Inventor 罗圣美谢思远裴凌王琳钱久超韦薇
Owner ZTE CORP
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